CN107092262A - A kind of indoor intelligent cleaning device - Google Patents
A kind of indoor intelligent cleaning device Download PDFInfo
- Publication number
- CN107092262A CN107092262A CN201710463944.6A CN201710463944A CN107092262A CN 107092262 A CN107092262 A CN 107092262A CN 201710463944 A CN201710463944 A CN 201710463944A CN 107092262 A CN107092262 A CN 107092262A
- Authority
- CN
- China
- Prior art keywords
- indoor
- cleaning device
- rack
- processing unit
- signal processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000005286 illumination Methods 0.000 claims description 14
- 230000005693 optoelectronics Effects 0.000 claims description 10
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims 1
- 230000004888 barrier function Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a kind of indoor intelligent cleaning device, including clean robot, the clean robot includes the base provided with roller, cleaning device is provided with below base, rack is provided with above the base, enclosure top is provided with laser sensor and two infrared video cameras, drive device and processor are provided with the rack, the processor includes driver element, memory cell, signal receiving unit and signal processing unit, the driver element is connected with drive device, drive device driving roller movement, the signal receiving unit is connected with laser sensor and infrared video camera respectively, the signal processing unit is connected with signal receiving unit and driver element respectively, the memory cell is connected with signal processing unit, memory cell is stored with indoor map information.Grid coordinate map need not be re-established after indoor object space changes, the efficiency of indoor cleaning is effectively improved.
Description
Technical field
The present invention relates to a kind of cleaning equipment, and in particular to a kind of indoor intelligent cleaning device.
Background technology
With continuing to develop for science and technology, there are a variety of clean robots.Clean robot is intelligent domestic
One kind of electrical equipment, is mainly engaged in the work such as cleaning, the cleaning of domestic hygiene, can rely on certain artificial intelligence, automatically in room
The cleaning work of interior completion floor.Clean robot is typically swept and vacuum mode using brush, and ground debris is first received and enters itself
Rubbish receiver, so as to complete the function of land clearing.
Generally, clean robot sets up coordinate data by the origin of coordinates of cradle, and impact switch using itself or
Infrared/ultrasonic sensor sets up grid coordinate map, and is cleaned according to grid coordinate map to indoor.But, when
When indoor object space changes, the position of such as cradle changes, and the grid coordinate map set up originally will
Produce in very big error, correlation technique, coordinate data is re-established according to the position of current cradle, and according to coordinate data weight
Grid coordinate map newly is set up, cleaning machine task efficiency is reduced.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention discloses a kind of indoor intelligent cleaning device, when indoor object space hair
Grid coordinate map need not be re-established after raw change, the efficiency of indoor cleaning is effectively improved.
The present invention is achieved through the following technical solutions：
A kind of indoor intelligent cleaning device, including clean robot, the clean robot include the base provided with roller,
It is provided with below base above cleaning device, the base and is provided with rack, enclosure top is provided with laser sensor and two infrared takes the photograph
As instrument, drive device and processor are provided with the rack, the processor includes driver element, memory cell, signal and received
Unit and signal processing unit, the driver element are connected with drive device, and drive device driving roller movement, the signal connects
Receive unit be connected respectively with laser sensor and infrared video camera, the signal processing unit respectively with signal receiving unit and drive
Moving cell is connected, and the memory cell is connected with signal processing unit, and memory cell is stored with indoor map information.
The present invention, which is provided with above clean robot base on rack, rack, is provided with laser sensor and infrared photography
Processor is provided with instrument, rack, laser sensor is used to realize Contactless Measurement to indoor environment when clean robot is moved
Away from, its test the speed soon, precision it is high, the wall or the positional information of obstacle distance laser sensor that measure are sent to the letter of processor
Number receiving unit, the positional information that signal processing unit processes signal receiving unit is obtained, laser sensor is with cleaning machine
People moves freely and measured the positional information in interior space each position and each corner indoors, is calculated by signal processing unit
The shape and size of indoor three dimensions are drawn, and then construct an indoor map, and by the indoor map finally constructed
Information is stored in memory cell, builds after indoor map, and signal processing unit calculates cleaning path, starts cleaning device,
Clean robot is cleared up each corner of indoor each several part one by one according to cleaning path, when temporarily indoor object space changes
After change, clean robot can measure the position that barrier is newly located by laser sensor, with reference to infrared video camera to barrier
Geomery and position more fast and accurately judged, and the circuit of adjustment cleaning in time, and by the interior space changed
Information updating draws new indoor map into memory cell, new cleaning path is calculated by signal processing unit, entirely
Process speed is fast, and precision is high, effectively improves efficiency and the degree of accuracy of indoor cleaning.
The rack outer wall is provided with a layer solar electro-optical package, and the solar opto-electronic board is connected with battery, battery
In rack, for being powered for clean robot.
The present invention is generated electricity using solar opto-electronic board, and the electric energy of conversion is used to power for clean robot, saved
Environmental protection, effectively reduces the energy consumption of clean robot, reduces the use cost of the present invention.
The solar opto-electronic board is externally provided with one layer of anticollision layer, and the anticollision layer is made up of transparent silica gel.
Anticollision layer plays cushioning effect, for protecting clean robot to be particularly its outside solar opto-electronic board, using saturating
Bright silica gel can not only play buffering effect, moreover it is possible to avoid stopping conversion of the solar opto-electronic board to light.
The enclosure top is additionally provided with an illumination photometer, and the illumination photometer is connected with signal receiving unit.
Illumination photometer is used for the intensity of illumination for measuring current location, and the illumination intensity information measured is sent to signal receiving unit
Then arriving signal processing unit, when charging is required, clean robot is moved freely indoors, while illumination photometer measurement is each not
With the intensity of illumination of position, optimum illumination position is drawn through signal processing unit comparative analysis, then clean robot is moved to
Optimum illumination position carries out solar power generation.More electric energy is obtained to meet the conversion within the same time.
The drive device is motor.
The present invention compared with prior art, has the following advantages and advantages：
A kind of indoor intelligent cleaning device of the present invention, is provided with rack, rack above clean robot base and sets
Have and processor is provided with laser sensor and infrared video camera, rack, laser sensor is used for when clean robot is moved
Indoor environment is realized Contactless Measurement away from, its test the speed soon, precision it is high, it is measured as clean robot is moved freely indoors
Go out the positional information in interior space each position and each corner, the shape of indoor three dimensions is calculated by signal processing unit
And size, and then an indoor map is constructed, recycle signal processing unit to calculate cleaning path, clean robot foundation
Cleaning path is cleared up each corner of indoor each several part one by one, after indoor object space changes temporarily, cleaning machine
People can measure the position that barrier is newly located by laser sensor, with reference to infrared video camera to barrier geomery and position
More fast and accurately judged, and calculate by signal processing unit new cleaning path, whole process speed is fast, essence
Degree is high, effectively improves efficiency and the degree of accuracy of indoor cleaning.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is control principle drawing of the present invention；
Mark and corresponding parts title in accompanying drawing：
1- rollers, 2- bases, 3- cleaning devices, 4- racks, 41- laser sensors, 42- infrared video cameras, 5- driving dresses
Put, 6- processors, 61- driver elements, 62- memory cell, 63- signal receiving units, 64- signal processing units, 7- solar energy
Electro-optical package, 71- batteries, 8- anticollisions layer, 9- illumination photometers.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment and its explanation of the invention is only used for explaining the present invention, does not make
For limitation of the invention.
Embodiment
As shown in Figure 1, 2, a kind of indoor intelligent cleaning device of the invention, including clean robot, the clean robot
Including the base 2 provided with roller 1, the lower section of base 2 is provided with cleaning device 3, and the top of base 2 is provided with rack 4, the top of rack 4
Provided with laser sensor 41 and two infrared video cameras 42, drive device 5 and processor 6, the processing are provided with the rack 4
Device 6 include driver element 61, memory cell 62, signal receiving unit 63 and signal processing unit 64, the driver element 61 with
Drive device 5 is connected, and the driving roller 1 of drive device 5 is moved, the signal receiving unit 63 respectively with laser sensor 41 and red
Outer video camera 42 is connected, and the signal processing unit 64 is connected with signal receiving unit 63 and driver element 61 respectively, described to deposit
Storage unit 62 is connected with signal processing unit 64, and memory cell 62 is stored with indoor map information.
The outer wall of rack 4 is provided with a layer solar electro-optical package 7, and the solar opto-electronic board 7 is connected with battery 71, stores
Battery 71 is in rack 4, for being powered for clean robot.
The solar opto-electronic board 7 is externally provided with one layer of anticollision layer 8, and the anticollision layer 8 is made up of transparent silica gel.
The top of rack 4 is additionally provided with an illumination photometer 9, and the illumination photometer 9 is connected with signal receiving unit 63.
The drive device 5 is motor.
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included
Within protection scope of the present invention.
Claims (5)
1. a kind of indoor intelligent cleaning device, including clean robot, the clean robot include the base provided with roller, bottom
Seat lower section is provided with cleaning device, it is characterised in that rack is provided with above the base, and enclosure top is provided with laser sensor and two
Individual infrared video camera, is provided with drive device and processor in the rack, the processor include driver element, memory cell,
Signal receiving unit and signal processing unit, the driver element are connected with drive device, drive device driving roller movement, institute
State signal receiving unit respectively with laser sensor and infrared video camera to be connected, the signal processing unit is received with signal respectively
Unit is connected with driver element, and the memory cell is connected with signal processing unit, and memory cell is stored with indoor map information.
2. a kind of indoor intelligent cleaning device according to claim 1, it is characterised in that the rack outer wall is provided with one layer
Solar opto-electronic board, the solar opto-electronic board is connected with battery, and battery is in rack, for being supplied for clean robot
Electricity.
3. a kind of indoor intelligent cleaning device according to claim 2, it is characterised in that the solar opto-electronic board peripheral hardware
There is one layer of anticollision layer, the anticollision layer is made up of transparent silica gel.
4. a kind of indoor intelligent cleaning device according to claim 2, it is characterised in that the enclosure top is additionally provided with one
Individual illumination photometer, the illumination photometer is connected with signal receiving unit.
5. a kind of indoor intelligent cleaning device according to claim 1, it is characterised in that the drive device is driving electricity
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463944.6A CN107092262A (en) | 2017-06-19 | 2017-06-19 | A kind of indoor intelligent cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710463944.6A CN107092262A (en) | 2017-06-19 | 2017-06-19 | A kind of indoor intelligent cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107092262A true CN107092262A (en) | 2017-08-25 |
Family
ID=59639544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710463944.6A Withdrawn CN107092262A (en) | 2017-06-19 | 2017-06-19 | A kind of indoor intelligent cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107092262A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108392153A (en) * | 2018-06-14 | 2018-08-14 | 于小龙 | A kind of sweeping robot intelligence control system |
| CN108514389A (en) * | 2018-06-04 | 2018-09-11 | 赵海龙 | A kind of control method of intelligent cleaning equipment |
| CN108814432A (en) * | 2018-06-04 | 2018-11-16 | 张辉 | A kind of self-charging sweeping robot |
| CN108888203A (en) * | 2018-06-04 | 2018-11-27 | 于彦霞 | A kind of control method of separate type automatic floor cleaning machine device people |
| CN109620059A (en) * | 2018-11-16 | 2019-04-16 | 深圳市赛领未来科技有限公司 | For indoor cleaning and service robot and air navigation aid |
| CN109893035A (en) * | 2019-03-21 | 2019-06-18 | 深圳市银星智能科技股份有限公司 | Signal transmitting apparatus and mobile robot |
| CN110025265A (en) * | 2018-01-12 | 2019-07-19 | 联润科技股份有限公司 | Self-propelled cleaning device and its clean method |
| CN111481109A (en) * | 2019-01-28 | 2020-08-04 | 北京奇虎科技有限公司 | Map noise elimination method and device based on sweeper |
| CN114067689A (en) * | 2021-11-19 | 2022-02-18 | 中测智联(深圳)科技有限公司 | Automatic display system of simulation propaganda flow that marketing plan was used |
-
2017
- 2017-06-19 CN CN201710463944.6A patent/CN107092262A/en not_active Withdrawn
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110025265A (en) * | 2018-01-12 | 2019-07-19 | 联润科技股份有限公司 | Self-propelled cleaning device and its clean method |
| CN108514389A (en) * | 2018-06-04 | 2018-09-11 | 赵海龙 | A kind of control method of intelligent cleaning equipment |
| CN108814432A (en) * | 2018-06-04 | 2018-11-16 | 张辉 | A kind of self-charging sweeping robot |
| CN108888203A (en) * | 2018-06-04 | 2018-11-27 | 于彦霞 | A kind of control method of separate type automatic floor cleaning machine device people |
| CN108392153A (en) * | 2018-06-14 | 2018-08-14 | 于小龙 | A kind of sweeping robot intelligence control system |
| CN108392153B (en) * | 2018-06-14 | 2020-11-24 | 山东亚泰新材料科技有限公司 | Intelligent control system of floor sweeping robot |
| CN109620059A (en) * | 2018-11-16 | 2019-04-16 | 深圳市赛领未来科技有限公司 | For indoor cleaning and service robot and air navigation aid |
| CN111481109A (en) * | 2019-01-28 | 2020-08-04 | 北京奇虎科技有限公司 | Map noise elimination method and device based on sweeper |
| CN111481109B (en) * | 2019-01-28 | 2022-08-26 | 北京奇虎科技有限公司 | Map noise elimination method and device based on sweeper |
| CN109893035A (en) * | 2019-03-21 | 2019-06-18 | 深圳市银星智能科技股份有限公司 | Signal transmitting apparatus and mobile robot |
| CN109893035B (en) * | 2019-03-21 | 2024-04-12 | 深圳银星智能集团股份有限公司 | Signal transmission device and mobile robot |
| CN114067689A (en) * | 2021-11-19 | 2022-02-18 | 中测智联(深圳)科技有限公司 | Automatic display system of simulation propaganda flow that marketing plan was used |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107092262A (en) | A kind of indoor intelligent cleaning device | |
| US10823576B2 (en) | Systems and methods for robotic mapping | |
| EP3308911B1 (en) | Mobile robot and method of controlling same | |
| US20210341932A1 (en) | Robot scheduling method | |
| CN102590884B (en) | Human body positioning and following system and method based on pyroelectric infrared sensors | |
| ES2927987T3 (en) | Solar panel cleaning robot positioning device and associated positioning method | |
| US20180173243A1 (en) | Movable object and method for controlling the same | |
| CN101661098A (en) | Multi-robot automatic locating system for robot restaurant | |
| WO2018228203A1 (en) | Human and machine intelligence cooperation-based robot system having sweeping function | |
| CN111823212A (en) | Garbage bottle cleaning and picking robot and control method | |
| CN202771261U (en) | Autonomous moving type robot | |
| WO2018228254A1 (en) | Mobile electronic device and method for use in mobile electronic device | |
| US20140333291A1 (en) | Method and apparatus for identifying locations of solar panels | |
| CN208076404U (en) | Vehicular exhaust blackness detector and system | |
| CN206459622U (en) | Gardens town road traffic survey tool | |
| CN207590617U (en) | Cleaning device based on indoor map | |
| CN107222164A (en) | High controlization high-intelligentization solar photovoltaic assembly O＆M method | |
| CN111531560B (en) | Patrol and examine robot applied to indoor and outdoor environment of transformer substation | |
| Gao et al. | A patrol mobile robot for power transformer substations based on ROS | |
| Ong et al. | Low cost autonomous robot cleaner using mapping algorithm based on internet of things (IoT) | |
| CN106426211A (en) | Control system of sweeping robot | |
| CN207908969U (en) | A kind of solid-state radar sweeping robot | |
| CN206633022U (en) | A kind of meal delivery robot of trackless operation | |
| CN202453519U (en) | Human body positioning and following system based on pyroelectric infrared sensor | |
| CN205608466U (en) | Video monitoring travelling car system based on singlechip |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170825 |
|
| WW01 | Invention patent application withdrawn after publication |